Ok thanks Eric, i have a seperate imu that i may interface with a pi3. Perhaps it is possible to synchronise that across i2c and if so could you forward a link on how to do it.
Speaking of which can you offer guidance on running orb slam3 on a53 cores with the camera? I just compiled ros noetic and all ancilliary components but the performance seems to be very poor. Do you have any advice on optimising orb slam 3 performance??
Currently running in stereo not stereo inertial mode.